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Re: 4-wheel drive trouble
How bout this:
Replace 2 wheels with omni's...
Probably the rear wheels. This will retain your 4 wheel strength while making your turning much slicker. I also think that with a small chamfer on the front wheels should do the trick.
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-=Sachiel7=-
There's no such thing as being too simple!
Look for Team #1132, RAPTAR Robotics at the VCU Regional this year! 
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